/******************************************************************************
 * Copyright 2022 The Airos Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
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#pragma once
#include <memory>
#include <string>
#include <vector>

#include "air_service/modules/perception-camera/algorithm/interface/algorithm_base.h"
#include "air_service/modules/perception-camera/algorithm/interface/object_detect_info.h"

namespace airos {
namespace perception {
namespace algorithm {

struct ObjectTrackAttr {
  int track_id = -1;  //
  float theta = 0;    // 角度
  Point3f direction;  // 依赖 theta计算出
};

struct ObjectTrackInfo {
  ObjectDetectInfo detect;
  ObjectTrackAttr tracker;
};

using ObjectTrackInfoPtr = std::shared_ptr<ObjectTrackInfo>;

}  // namespace algorithm
}  // namespace perception
}  // namespace airos
